• ETRI Journal
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• 제29권2호
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• pp.189-200
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• 2007

This paper addresses the localization and navigation problem in the movement of service robots by using invisible two dimensional barcodes on the floor. Compared with other methods using natural or artificial landmarks, the proposed localization method has great advantages in cost and appearance since the location of the robot is perfectly known using the barcode information after mapping is finished. We also propose a navigation algorithm which uses a topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls, and many static obstacles. The proposed algorithm also has the advantage that errors which occur in each node are mutually independent and can be compensated exactly after some navigation using barcodes. Simulation and experimental results were performed to verify the algorithm in the barcode environment, showing excellent performance results. After mapping, it is also possible to solve the kidnapped robot problem and to generate paths using topological information.

• 한국유기농업학회지
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• 제12권1호
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• pp.23-44
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• 2004

TCA(Total Cost Assessment) can be defined by a tool to evaluate actual profit about investment. Also, It can be used by method to make more reasonable decision-making in business. Enforcement of 'direct payment system' for environment friendship farmhouse of government is spreading recent times. But, it is true that it is no definite standard about appropriation of disbursement amount of money. TCA method can be utilized usefully for solution of these problem. Also, It will help to decide price grasping invisible cost and environment cost. Therefore, We tried that may can apply TCA theory in farmhouse class, and attempted economic performance estimation which use this. This study introduces TCA theory and developed applicable expense list in agriculture field. Also, We applied TCA theory to farmhouse. This theories referenced domestic and th6 foreign countries, connection literature. But, It handled part about invisible cost and social cost etc..

• 대한기계학회논문집A
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• 제30권9호
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• pp.1124-1133
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• 2006

This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results. were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information.

• 한국수자원학회논문집
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• 제50권9호
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• pp.597-607
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• 2017

본 연구에서는 표면영상유속계의 한계점으로 지적되어 온 야간이나 안개시 적용 문제를 해결하기 위해, 원적외선 카메라를 이용한 표면영상유속계의 적용성을 검토하였다. 이를 위해 각 조건에 대한 원적외선 카메라의 측정 정확도 평가 실험을 진행하였다. 정확도 평가는 기존에 검증이 된 주간 조건의 일반카메라를 이용한 표면영상유속계 측정 결과에 대한 상대 오차를 산정하여 평가하였다. 결과적으로 원적외선 카메라를 이용한 표면영상유속계의 야간 측정 상대 오차는 최대 4.3%, 평균 1% 내외로 매우 낮게 나타나 정확도가 높음을 확인하였고, 안개 조건 또한 최대 5.2%, 평균 2% 내외로 매우 높은 정확도를 보였다. 이에 따라 일반 카메라로 수면 흐름을 가시화할 수 없던 비가시 환경에서 원적외선 카메라를 이용하는 경우 높은 정확도로 측정이 가능할 것으로 판단된다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.631-633
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• 2003

Invisible networks have hidden bits flows from human being and become the periphery in the Internet overload; technologies become invisible and everywhere computing. The appearance of the calm environment requires a new relationship between human being and machines and geographic features: a paradigm shift. However no one says what next steps to those environments on details are, a reason why lots of people focus on the endeavors. In this paper, we touch the geographic features on ubiquitous environments and research the transition step of GIS mobile applications in order to achieve a natural integration of connectivity, capability and functionality.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1036-1043
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• 2014

In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.941-948
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• 2022

인간의 접근이 어려운 재난 현장에 투입되는 재난 대응 로봇은 재난의 확산 방지 및 피해 최소화를 위해 현장탐색, 인명구조 등의 임무를 수행한다. 재난 현장에는 다양한 장애물이 산재한 험지, 통신 장애, 비가시적인 환경 등 복합적인 요인으로 인해 로봇 운용에 어려움이 있다. 본 논문에서는 직렬연결이 가능한 바퀴 로봇 모듈을 개발하였다. 바퀴 로봇 모듈은 직접 구동이 가능한 로봇 모듈과 수동으로 구동되는 로봇 모듈 두 가지로 개발하였다. 두 개의 직접 구동이 가능한 로봇 모듈과 하나의 수동으로 구동되는 로봇 모듈을 직렬연결하여 하나의 바퀴 로봇을 구성하였다. 로봇 모듈은 1 자유도 회전 관절로 연결되어 바퀴 로봇은 수직 방향으로의 장애물 회피가 가능하다. 바퀴 로봇은 압력 센서만을 이용해 주행과 장애물 극복을 수행하도록 제어하여 비가시적 환경에서 운용할 수 있도록 하였다. 바퀴 로봇의 성능 평가를 위해 두 개의 직접 구동이 가능한 바퀴 로봇 모듈과 한 개의 수동으로 구동되는 바퀴 로봇 모듈을 연결하여 장애물 극복 실험을 수행하였다. 바퀴 로봇은 압력 센서만을 사용해 최대 높이 80 mm의 계단형 장애물을 24.5초의 시간 동안 성공적으로 극복하여 비가시적인 상황에서 주행 및 장애물 극복이 가능함을 확인하였다.

• 한국정보과학회논문지:정보통신
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• 제32권3호
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• pp.291-300
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• 2005

유비쿼터스 컴퓨터 환경은 사용자가 언제 어디서나 컴퓨터를 이용할 수 있도록 네트워크를 통해 상호 연결된 보이지 않는 수많은 컴퓨터(Invisible Computer)가 편재되고 사용자가 원하는 대로 쉽게 이용할 수 있는 컴퓨팅 환경을 지향하고 더 나아가서는 사용자가 원하는 컴퓨팅을 컴퓨터 스스로 알아서 (상황인식 Context Awareness) 제공하는 스마트 환경이다. 이러한 유비쿼터스 컴퓨팅은 보안에 있어 특히 취약한 면을 많이 내포하고 있다. 그 중에서도 분산된 다양한 컴퓨팅 기기들이 도처에 존재함으로 인해 사웅자 주턴에 있는 기기 중에서 사웅자 혹은 서버에 인증된 기기로의 위장공격 등이 가능해진다. 이에 본 논문에서는 다음과 같은 특징을 가지는 방식을 제안한다. 디바이스의 이동을 통한 인증 모델을 제시한다. 이는 개인의 작은 디바이스가 다른 사용자의 공간(MD: Multi Domain)로 이동하였을 경우 디바이스를 통한 인증을 실쳔하는 방식과 사용자 자신의 공간(SD: SinEle Domain)으로 이동하였을 경우 디바이스를 통한 인증을 실현하는 두 가지 방식을 제안한다.

• 한국컴퓨터정보학회논문지
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• 제22권3호
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• pp.53-60
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• 2017

The purpose of this study is to provide empirical and quantitative analysis on user's perceived privacy, security, and user satisfaction when providing visualization information about objects and service provider behaviors that users can not perceive in internet service process. Through previous research, we have examined the importance of privacy and security factors as a key factor to be considered for the characteristics of the Internet of things and the Internet of things. In addition, service blueprint, which is one of the service design methodologies to examine the flow of service usage in providing Internet service of things, was examined. In the flow of things internet service utilization, it is found that the things that are out of the user's cognitive area and the behavior of the service provider take up a large part. Therefore, the hypothesis that the trust of the Internet service security and the satisfaction of the user experience can be improved by providing the security visualization information about the behavior of the object and the invisible service provider in the non-contact aspect of the user and the object. In order to verify the hypothesis, we conducted experiments and questionnaires on the use of virtual objects' internet environment and conducted statistical analysis based on them. As a result, it was analyzed that visual information feedback on non - contact and invisible objects and service provider's behaviors had a positive effect on user's perceived privacy, security, and satisfaction. In addition, we conclude that it can be used as a service design evaluation tool to eliminate psychological anxiety about security and to improve satisfaction in internet service design. We hope that this research will be a great help for the research on application method of service design method in Internet environment of objects.

• 전자통신동향분석
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• 제36권4호
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• pp.135-144
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• 2021

The field of user authentication in Korea has experienced new dimensions since December 2020. Accredited certificate, which had been in use for 21 years since 1999, has been abolished. Accredited certificates have provided a trust foundation for various ICT-based industrial developments; however, new changes in the authentication sector are also required due to changes in the service and policy environment. Changes in the service environment occur rapidly because of the emergence of new technologies such as AI, IoT, Bio, Blockchain, and the daily use of non-face-to-face environments caused by COVID-19. Even with changes in the service environment, user authentication remains an essential foundation for providing services. This paper summarizes the current status of user authentication techniques, analyzes major changes in the service environment (such as Metaverse) associated with user authentication, and presents the direction of authentication techniques (Decentralized, Invisible, Privacy-preserving) through the derived implications.